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Distributed Kalman Filter with Ultimately Accurate Fused Measurement Covariance

IEEE Transactions on Automatic Control 2025年

作者： Yang, Tuo Qian, Jiachen Duan, Zhisheng Sun, Zhiyong Peking University State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Beijing100871 China

This paper investigates the distributed Kalman filter (DKF) for linear systems, with specific attention on measurement fusion, which is a typical way of information sharing and is vital for enhancing stability and improving estimation accuracy. We show that it is the mismatch between the fused measurement and the fused covariance that leads to performance degradation or inconsistency in previous consensus-based DKF algorithms. To address this issue, we introduce two fully distributed approaches for calculating the exact covariance of the fused measurements, building upon which the modified DKF algorithms are proposed. Moreover, the performance analysis of the modified algorithms is also provided under rather mild conditions, including the steady-state value of the estimation error covariance. We also show that due to the guaranteed consistency in the modified DKF algorithms, the steady-state estimation accuracy is significantly improved compared to classical DKF algorithms. Numerical experiments are carried out to validate the theoretical analysis and show the advantages of the proposed methods. © 1963-2012 IEEE.

关键词： Wiener filtering

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Ce^(3+):Lu_(3)Al_(5)O_(12)–Al_(2)O_(3) optical nanoceramic scintillators elaborated via a low-temperature glass crystallization route

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Journal of Advanced Ceramics 2023年第2期12卷 268-278页

作者： Jie FU Shaowei FENG Yongchang GUO Ying ZHANG Cécile GENEVOIS Emmanuel VERON Mathieu ALLIX Jianqiang LI School of Materials Science and Engineering University of Science and Technology BeijingBeijing 100083China State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China CNRS CEMHTI UPR 3079Universitéd’OrléansOrléans 45071France University of Chinese Academy of Sciences Beijing 100049China

Transparent Ce:lutetium aluminum garnet(Ce:Lu_(3)A_(l5)O_(12),Ce:LuAG)ceramics have been regarded as potential scintillator materials due to their relatively high density and atomic number(Zeff).However,the current Ce:LuAG ceramics exhibit a light yield much lower than the expected theoretical value due to the inevitable presence of LuAl antisite defects at high sintering *** work demonstrates a low-temperature(1100℃)synthetic strategy for elaborating transparent LuAG–Al_(2)O_(3) nanoceramics through the crystallization of 72 mol%Al_(2)O_(3)–28 mol%Lu_(2)O_(3)(ALu28)bulk *** biphasic nanostructure composed of LuAG and Al_(2)O_(3) nanocrystals makes up the whole ceramic *** of Al_(2)O_(3) is distributed among LuAG grains,and the rest is present inside the LuAG *** dense biphasic LuAG–Al_(2)O_(3) nanoceramics are highly transparent from the visible region to mid-infrared(MIR)region,and particularly the transmittance reaches 82%at 780 ***,LuAl antisite defect-related centers are completely undetectable in X-ray excited luminescence(XEL)spectra of Ce:LuAG–Al_(2)O_(3) nanoceramics with 0.3–1.0 at%*** light yield of 0.3 at%Ce:LuAG–Al_(2)O_(3) nanoceramics is estimated to be 20,000 ph/MeV with short 1μs shaping time,which is far superior to that of commercial Bi_(4)Ge_(3)O_(12)(BGO)single *** results show that a low-temperature glass crystallization route provides an alternative approach for eliminating the antisite defects in LuAG-based ceramics,and is promising to produce garnet-based ceramic materials with excellent properties,thereby meeting the demands of advanced scintillation applications.

关键词： glass crystallization garnet antisite defects Lu_(3)Al_(5)O_(12)-Al_(2)O_(3)(LuAG-Al_(2)O_(3))transparent ceramics nanoceramics scintillation

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Selective laser melted high Ni content TiNi alloy with superior superelasticity and hardwearing

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Journal of Materials Science & Technology 2022年第21期116卷 246-257页

作者： Hui Shen Qingquan Zhang Ying Yang Yang Ren Yanbao Guo Yafeng Yang Zhonghan Li Zhiwei Xiong Xiangguang Kong Zhihui Zhang Fangmin Guo Lishan Cui Shijie Hao State Key Laboratory of Heavy Oil Processing China University of PetroleumBeijing 102249China The Key Laboratory of Bionic Engineering(Ministry of Education)and the College of Biological and Agricultural Engineering Jilin UniversityChangchun 130025China Department of Physics City University of Hong KongKowloonHong KongChina College of Mechanical and Transportation Engineering China University of PetroleumBeijing 102249China State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China

TiNi alloys with high content Ni(52-55 at.%)are perfectly suitable for preparing wear-and corrosionresistant parts that service on the space station,spacecraft,and submarine,because of their superior superelasticity,high strength,and ***,the fabrication of complicated Ni-rich TiNi parts by the traditional machining method often faces problems of poor precision,low efficiency,and high *** this work,we succeed in preparing an excellent Ti_(47)Ni_(53) alloy by selective laser melting(SLM),and thus,open a new way for the efficient and precise formation of complicated Ni-rich TiNi parts with superelasticity and *** optimized processing window for compact parts without defects is *** elaborately fabricated Ti_(47)Ni_(53) alloy exhibited a breaking strain of 11%,a breaking stress of 2.0 GPa,a superelastic strain of 9%,and a better hardwearing than that of casting and quenched Ti_(47)Ni_(53) ***,the microstructure,phase transformation,and deformation,as well as their influence mechanisms are investigated by in situ transmission electron microscope(TEM)and high-energy X-ray diffraction(HE-XRD).The results obtained are of significance for both fundamental research and technological applications of SLM-fabricated high Ni content TiNi alloys.

关键词： Selective laser melting High Ni content TiNi Superelasticity Wear In situ high-energy X-ray diffraction Microstructure

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Evolutionary Computation and Reinforcement Learning for Cyber-physical System Design

Evolutionary Computation and Reinforcement Learning for Cybe...

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International Conference on software engineering - Companion, ICSE, Companion

作者： Chengjie Lu Department of Engineering Complex Software Systems Simula Research Laboratory Oslo Norway

Cyber-physical systems (CPSs) are designed to in-tegrate computation and physical processes through constantly interacting with the physical environment. The complexity and uncertainty of the environment often come up with unpredictable situations, which place high demands on the dynamic adaptability of CPSs. Further, as the environment evolves, the CPS needs to constantly evolve itself to adapt to the changing environment. This paper presents a research plan that aims to develop a novel framework to address CPS design challenges under uncertain environments. We propose to utilize evolutionary computation and reinforcement learning techniques to design control policies that can adapt to the dynamic changes and uncertainties of the environment. Further, novel testing and evaluation approaches that can generate test cases while adapting to dynamic changes in the system and the environment will be explored.

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Distributed Asymptotic Consensus in Directed Networks of Nonaffine systems With Nonvanishing Disturbance

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IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1133-1140页

作者： Qingling Wang Changyin Sun School of Automation Southeast UniversityNanjing 210096 Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096China

In this paper the distributed asymptotic consensus problem is addressed for a group of high-order nonaffine agents with uncertain dynamics,nonvanishing disturbances and unknown control directions under directed networks.A class of auxiliary variables are first introduced which forms second-order filters and induces all measurable signals of agents’*** view of this property,a distributed robust integral of the sign of the error(DRISE)design combined with the Nussbaum-type function is presented that guarantees not only the desired asymptotic consensus,but also the uniform boundedness of all closed-loop *** with the traditional sliding mode control(SMC)technique,the main feature of our approach is that the integral operation in the proposed control algorithm is designed to be adopted in a continuous manner and ensures less chattering *** results for a group of Duffing-Holmes chaotic systems are employed to verify our theoretical analysis.

关键词： Asymptotic consensus nonaffine systems nonvanishing disturbance Nussbaum-type functions unknown control directions

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Adaptive Augmented Kalman Filter-Based Control for Electronic Throttle systems with Disturbances and Noises 42

Adaptive Augmented Kalman Filter-Based Control for Electroni...

引用

42nd Chinese Control Conference, CCC 2023

作者： Li, Wen Su, Jinya Li, Shihua School of Automation Southeast University Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing210096 China

ISBN: (纸本)9789887581543

In this study, we investigate the control problem of electronic throttle systems in the presence of practical challenges such as disturbances and measurement noises. To address these challenges, we propose an adaptive augmented Kalman filter (AAKF) based control approach that combines the strengths of extended state observer in disturbance estimation and adaptive Kalman fil-ter in adaptive noise filtering. The outputs of AAKF are integrated into the Backstepping control design, resulting in a composite control that concurrently achieves fast disturbance rejection and noise suppression. We conduct a comparative simulation study against conventional methods without adaptive filtering to validate the effectiveness of the proposed AAKF-based control strat-egy, which exhibits superior position control accuracy and disturbance attenuation performance. We envision that our proposed control strategy will contribute to improving vehicle power, fuel economy, and emission performance. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Adaptive filtering

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Fixed-Time Adaptive Tracking Event-Based Control for Uncertain Stochastic Nonlinear systems With Output Constraints

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International Journal of Robust and Nonlinear Control 2025年第0期

作者： Wang, Kun Xie, Liping Yuan, Yixuan Zhang, Kanjian Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

This paper focuses on an adaptive fixed-time tracking control problem for nonstrict-feedback stochastic nonlinear systems with unknown control coefficients and output constraints. To overcome this problem, this article introduces a unified system transformation function to facilitate the transition of the system from constrained to unconstrained states. Subsequently, a fuzzy approximation principle is utilized for handling unknown terms in the transformed system, while Nussbaum functions are employed to manage unknown control directions. Then, combined with the backstepping technique, an adaptive fixed-time tracking controller is designed with an event-triggered mechanism, which not only achieves the convergence of tracking errors within a limited time independent of initial states, but also conserves resources. Under the proposed tracking controller, practical fixed-time stability can be ensured for the closed-loop system. Finally, two simulation examples demonstrate the efficacy of the proposed scheme. © 2025 John Wiley & Sons Ltd.

关键词： Stochastic systems

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Test Scenario Generation for Autonomous Driving systems with Reinforcement Learning

Test Scenario Generation for Autonomous Driving Systems with...

引用

International Conference on software engineering - Companion, ICSE, Companion

作者： Chengjie Lu Department of Engineering Complex Software Systems Simula Research Laboratory Oslo Norway

We have seen rapid development of autonomous driving systems (ADSs) in recent years. These systems place high requirements on safety and reliability for their mass adoption, and ADS testing is one of the crucial approaches to ensure the success of ADSs. To this end, this paper presents RLTester, a novel ADS testing approach, which adopts reinforcement learning (RL) to learn critical environment configurations (i.e., test scenarios) of the operating environment of ADSs that could reveal their unsafe behaviors. To generate diverse and critical test scenarios, we defined 142 environment configuration actions, and adopted the Time- To-Collision metric to construct the reward function. Our evaluation shows that RLTester discovered a total of 256 collisions, of which 192 are unique collisions, and took on average 11.59 seconds for each collision. Further, RLTester is effective in generating more diverse test scenarios compared to a state-of-the art approach, DeepCollision.

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Microwave-assisted pyrolysis of waste plastics for their resource reuse:A technical review

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Carbon Resources Conversion 2023年第3期6卷 215-228页

作者： Xuan Hu Dachao Ma Guangyi Zhang Mengxue Ling Qiaoling Hu Kangyi Liang Jiacheng Lu Yifan Zheng School of Resources Environment and MaterialsGuangxi UniversityNanning 530004China School of Ecology and Environment Beijing Technology and Business UniversityBeijing 100048China Key Laboratory of Environmental Protection Guangxi UniversityNanning 530004China State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China

Rapidly increasing plastics have been used and finally become wastes,resulting in increasing pressures to the ***-assisted pyrolysis is a promising technology for converting organic wastes as waste plastics into value-added *** present,many works on microwave-assisted pyrolysis of plastics have been published,but the achievements,challenges,and future directions of microwave-assisted pyrolysis of waste plastics have not been well summarized and *** this work,the principle of microwave-assisted pyrolysis technology is ***,the progress of its application to recover useful products from plastics is reviewed and discussed in terms of key parameters including microwave power,pyrolysis temperature,reaction time,types of catalyst,microwave absorbents and feedstock mixing ***,the yields and properties of the produced oil,gas and char are correlated with the process ***,the existing challenges and prospects of disposal/reuse of waste plastics by microwave-assisted pyrolysis technology are discussed.

关键词： Review Waste plastics Microwave-assisted pyrolysis Challenges

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Multi-Blockchain Based Data Trading Markets With Novel Pricing Mechanisms

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IEEE/CAA Journal of Automatica Sinica 2023年第12期10卷 2222-2232页

作者： Juanjuan Li Junqing Li Xiao Wang Rui Qin Yong Yuan Fei-Yue Wang IEEE the State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the College of Computer Science and Engineering Shandong University of Science and TechnologyQingdao 266590China the School of Artificial Intelligence Anhui UniversityHefei 266114 the Qingdao Academy of Intelligent Industries Qingdao 230031China the School of Mathematics Renmin University of ChinaBeijing 100872China the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 the Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China

In the era of big data,there is an urgent need to establish data trading markets for effectively releasing the tremendous value of the drastically explosive *** security and data pricing,however,are still widely regarded as major challenges in this respect,which motivate this research on the novel multi-blockchain based framework for data trading markets and their associated pricing *** this context,data recording and trading are conducted separately within two separate blockchains:the data blockchain(DChain) and the value blockchain(VChain).This enables the establishment of two-layer data trading markets to manage initial data trading in the primary market and subsequent data resales in the secondary ***,pricing mechanisms are then proposed to protect these markets against strategic trading behaviors and balance the payoffs of both suppliers and ***,in regular data trading on VChain-S2D,two auction models are employed according to the demand scale,for dealing with users’ strategic *** incentive-compatible Vickrey-Clarke-Groves(VCG)model is deployed to the low-demand trading scenario,while the nearly incentive-compatible monopolistic price(MP) model is utilized for the high-demand trading *** temporary data trading on VChain-D2S,a reverse auction mechanism namely two-stage obscure selection(TSOS) is designed to regulate both suppliers’ quoting and users’ valuation ***,experiments are carried out to demonstrate the strength of this research in enhancing data security and trading efficiency.

关键词： Auction data trading markets multi-blockchain pricing mechanisms

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